erwan/phd-thesis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Typo

Browse Source
This commit is contained in:
Erwan Normand
2024-10-21 11:39:31 +02:00
parent bb25e3db38
commit 8957f70343
11 changed files with 96 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
2-related-work/1-haptic-hand.tex
View File

@@ -118,7 +118,7 @@ The joints at the base of each phalanx allow flexion and extension, \ie folding
The proximal phalanges can also adduct and abduct, \ie move the fingers towards and away from each other.
Finally, the metacarpal of the thumb is capable of flexion/extension and adduction/abduction, which allows the thumb to oppose the other fingers.
These axes of movement are called DoFs and can be represented by a \emph{kinematic model} of the hand with 27 DoFs as shown in \figref{blausen2014medical_hand}.
Thus the thumb has 5 DoFs, each of the other four fingers has 4 DoFs and the wrist has 6 DoFs and can take any position (3 DoFs) or orientation (3 DoFs) in space \cite{erol2007visionbased}.
Thus, the thumb has 5 DoFs, each of the other four fingers has 4 DoFs and the wrist has 6 DoFs and can take any position (3 DoFs) or orientation (3 DoFs) in space \cite{erol2007visionbased}.
This complex structure enables the hand to perform a wide range of movements and gestures. However, the way we explore and grasp objects follows simpler patterns, depending on the object being touched and the aim of the interaction.
@@ -144,11 +144,6 @@ It takes only \qtyrange{2}{3}{\s} to perform these procedures, except for contou
\fig{exploratory_procedures}{Exploratory procedures and their associated object properties (in brackets). Adapted from \textcite{lederman2009haptic}.}
%Le sens haptique seul (sans la vision) nous permet ainsi de reconnaitre les objets et matériaux avec une grande précision.
%La reconnaissance des propriété matérielles, \ie la surface et sa texture, rigidité et température est meilleure qu'avec le sens visuel seul.
%Mais la reconnaissance des propriétés spatiales, la forme et la taille de l'objet, est moins bonne avec l'haptique qu'avec la vision \cite{lederman2009haptic}.
%Quelques secondes (\qtyrange{2}{3}{\s}) suffisent pour effectuer ces procédures, à l'exception du suivi de contour qui peut prendre une dizaine de secondes \cite{jones2006human}.
\subsubsection{Grasp Types}
\label{grasp_types}

2
2-related-work/2-wearable-haptics.tex
View File

@@ -151,7 +151,7 @@ A \LRA consists of a coil that creates a magnetic field from an alternative curr
They are more complex to control and a bit larger than \ERMs.
Each \LRA is designed to vibrate with maximum amplitude at a given resonant frequency, but won't vibrate efficiently at other frequencies, \ie their bandwidth is narrow, as shown in \figref{azadi2014vibrotactile}.
A voice-coil actuator is a \LRA but capable of generating vibration at two \DoF, with an independent control of the frequency and amplitude of the vibration on a wide bandwidth.
They are larger in size than \ERMs and \LRAs, but can generate more complex renderings.
They are larger than \ERMs and \LRAs, but can generate more complex renderings.
Piezoelectric actuators deform a solid material when a voltage is applied.
They are small and thin and provide two \DoFs of amplitude and frequency control.

2
2-related-work/3-augmented-reality.tex
View File

@@ -303,7 +303,7 @@ While in \VST-\AR, this could be solved as a masking problem by combining the re
%However, this effect still causes depth conflicts that make it difficult to determine if one's hand is behind or in front of a virtual object, \eg the thumb is in front of the virtual cube, but could be perceived to be behind it.
Since the \VE is intangible, adding a visual feedback of the virtual hand in \AR that is physically constrained to the virtual objects would achieve a similar result to the double-hand feedback of \textcite{prachyabrued2014visual}.
A virtual object overlaying a real object object in \OST-\AR can vary in size and shape without degrading user experience or manipulation performance \cite{kahl2021investigation,kahl2023using}.
A virtual object overlaying a real object in \OST-\AR can vary in size and shape without degrading user experience or manipulation performance \cite{kahl2021investigation,kahl2023using}.
This suggests that a visual hand feedback superimposed on the real hand as a partial avatarization (\secref{ar_embodiment}) might be helpful without impairing the user.
Few works have compared different visual feedback of the virtual hand in \AR or with wearable haptic feedback.